Surgical tool having integrated microphones

ABSTRACT

Communication apparatus and devices for surgical robotic systems are described. The communication apparatus can include a user console in communication with a communication device having a surgical tool. The communication device can include a microphone to convert a sound input into an acoustic input signal. The communication device can transmit the acoustic input signal to the user console for reproduction as a sound output for a remote operator. The surgical tool can include an endoscope having several microphones mounted on a housing. The surgical tool can be a sterile barrier having a microphone and a drape. The microphone(s) of the surgical tools can face a surrounding environment such that a tableside staff is a source of the sound input that causes the sound output, and a surgeon and the tableside staff can communicate in a noisy environment. Other embodiments are also described and claimed.

BACKGROUND Field

Embodiments related to surgical robotic systems, are disclosed. Moreparticularly, embodiments related to surgical robotic systems andcorresponding communication devices, are disclosed.

Background Information

Endoscopic surgery involves looking into a patient's body and performingsurgery inside the body using endoscopes and other surgical tools. Forexample, laparoscopic surgery can use a laparascope to access and viewan abdominal cavity. Endoscopic surgery can be performed using manualtools and/or robotically-assisted tools.

A surgical robotic system may be used by a surgeon to remotely commandsurgical tools located at an operating table. More particularly, thesurgeon may use a computer console located across a room, or even acrossthe world, from the operating table to command a robot to manipulate asurgical tool mounted on the operating table. The robotically-controlledsurgical tool can be an endoscope mounted on a robotic arm. Accordingly,the surgical robotic system may be commanded by the remote surgeon toperform an endoscopic surgery.

An endoscopic surgery performed by a surgical robotic system istypically assisted by bedside staff. Although the surgeon may beremotely located, one or more bedside assistants may perform tasks atand around the operating table. For example, the bedside staff mayattend to a patient or attach/detach surgical tools of the surgicalrobotic system. Communication between the bedside staff and the remotesurgeon is essential to a successful surgery. To communicate with theremote surgeon, the bedside staff may shout across the operating arena,which may be a noisy environment. Alternatively, the bedside staff maywear and use assistive technologies, such as headsets, to communicatewith the remote surgeon. Also, the bedside staff may speak intomicrophones affixed to something within the operating arena, e.g., amicrophone hanging from a ceiling of the operating arena, to communicatewith the remote surgeon.

SUMMARY

When a surgeon is not physically located at an operating table during arobotically-assisted surgery, communication between the remote surgeonand bedside staff may be difficult. Noise within the operating arena caninterfere with the shouts of the bedside staff, rendering the speechinaudible. Existing assistive technologies used to facilitatecommunication between bedside staff and remote surgeons have severalshortcomings. The use of headsets can be disruptive to a surgicalworkflow in the operating arena, and thus, bedside staff may forget towear a headset or may simply opt not to wear the headset. Microphonesmounted at various locations within the operating arena, e.g., hangingfrom a ceiling, may not extend into a zone between the operating tableand the bedside staff, and thus, may not pick up the voices of thebedside staff. Similarly, the bedside staff may not face the mountedmicrophones, and thus, sound quality of the monitored sound may be poor.

A surgical robotic system having a communication device is provided. Thecommunication device can include a surgical tool that integrates amicrophone to face a surrounding environment, e.g., for placementbetween an operating table and a tableside staff. In an embodiment, thesurgical robotic system includes a communication apparatus having acommunication device and a user console, and the surgical tool iscommunicatively coupled to the user console. A remote operator, e.g., asurgeon, can use the user console to command the surgical tool. Thesurgical tool can include an audio system to output a voice of theremote operator to the tableside staff, and to receive a voice of thetableside staff. The voice of the tableside staff can be reproduced tothe remote operator by an audio system of the user console. Accordingly,the tableside staff and the remote operator can communicate via thecommunication apparatus of the surgical robotic system.

In an embodiment, the surgical tool includes an endoscope. The endoscopecan be attached to a robotic arm, and the robotic arm can be attached toa surgical table. The endoscope can have an elongated shaft forplacement in the patient, and a housing located between a sterilebarrier and the tableside staff. One or more microphones and one or morespeakers can be mounted on the housing to provide the audio system tofacilitate communication by the tableside staff. Several microphones ofthe audio system can be arranged in a microphone array to generateseveral microphone output signals. Optionally, a processor is mounted inthe housing and can receive the microphone output signals to performaudio processing of the voice data, such as noise reduction or voicedirection detection. Accordingly, the surgical tool can be used in anormal surgical workflow to provide clear communication between thetableside staff and the remote operator.

In an embodiment, the surgical tool is a sterile barrier. The sterilebarrier may include a drape to be placed over a patient on the operatingtable, or to be placed over a robotic arm used to performrobotically-assisted surgery. More particularly, the drape may be atubular sleeve to slip over another surgical tool and/or a portion ofthe robotic arm for defining a sterile zone. The other surgical tool canbe attached to the robotic arm, and the robotic arm can be attached to asurgical table. The surgical tool can include a sterile adapter mountedon the tubular sleeve, and the sterile adapter can include atransmission element to transmit torque from a motor drive of therobotic arm inside of the tubular sleeve to a surgical tool outside ofthe tubular sleeve. One or more microphones and one or more speakers canbe mounted on the sterile adapter within the sterile zone to provide anaudio system to facilitate communication by the tableside staff. Theaudio system can be electrically connected to a data channel of therobotic arm, and thus, the remote operator can select the robotic arm tocommunicate to a specific region of an operating arena, e.g., tocommunicate to a tableside staff on a right side of the patient.Accordingly, the surgical tool can be used in a normal surgical workflowto provide clear communication between the tableside staff and theremote operator.

The above summary does not include an exhaustive list of all aspects ofthe present invention. It is contemplated that the invention includesall systems and methods that can be practiced from all suitablecombinations of the various aspects summarized above, as well as thosedisclosed in the Detailed Description below and particularly pointed outin the claims filed with the application. Such combinations haveparticular advantages not specifically recited in the above summary.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a pictorial view of an example surgical robotic system in anoperating arena, in accordance with an embodiment.

FIG. 2 is a perspective view of a communication device, in accordancewith an embodiment.

FIG. 3 is a cross-sectional view, taken about line A-A of FIG. 2, of ahousing of a surgical tool, in accordance with an embodiment.

FIG. 4 is a perspective view of a communication device, in accordancewith an embodiment.

FIG. 5 is a cross-sectional view, taken about line B-B of FIG. 4, of ahousing of a surgical tool, in accordance with an embodiment.

FIG. 6 is a cross-sectional view, taken about line C-C of FIG. 4, of atransmission housing of a surgical tool, in accordance with anembodiment.

FIG. 7 is a perspective view of a communication device, in accordancewith an embodiment.

FIG. 8 is a cross-sectional view, taken about line D-D of FIG. 7, of asterile adapter on a drape, in accordance with an embodiment.

FIG. 9 is a cross-sectional view, taken about line E-E of FIG. 7, of asterile adapter on a drape, in accordance with an embodiment.

FIG. 10 is block diagram of a computer portion of a surgical roboticsystem, in accordance with an embodiment.

DETAILED DESCRIPTION

Embodiments describe communication apparatuses and devices for surgicalrobotic systems. A communication apparatus can include a user consoleand a communication device that allows a remote operator, e.g., asurgeon, to communicate with bedside staff located at an operatingtable. The communication device can facilitate communication through anaudio system integrated in surgical tools that are in use at theoperating table. For example, the surgical tools may include endoscopesor sterile barriers having integrated microphones and/or speakers, asdescribed below. The communication device may, however, include audiosystems incorporated into other surgical tools, such as cytoscopes,laparascopes, or arthroscopes, to name only a few possible applications.

In various embodiments, description is made with reference to thefigures. However, certain embodiments may be practiced without one ormore of these specific details, or in combination with other knownmethods and configurations. In the following description, numerousspecific details are set forth, such as specific configurations,dimensions, and processes, in order to provide a thorough understandingof the embodiments. In other instances, well-known processes andmanufacturing techniques have not been described in particular detail inorder to not unnecessarily obscure the description. Reference throughoutthis specification to “one embodiment,” “an embodiment,” or the like,means that a particular feature, structure, configuration, orcharacteristic described is included in at least one embodiment. Thus,the appearance of the phrase “one embodiment,” “an embodiment,” or thelike, in various places throughout this specification are notnecessarily referring to the same embodiment. Furthermore, theparticular features, structures, configurations, or characteristics maybe combined in any suitable manner in one or more embodiments.

The use of relative terms throughout the description may denote arelative position or direction. For example, “distal” may indicate afirst direction away from a reference point, e.g., in a direction of apatient being operated on during a surgery. Similarly, “proximal” mayindicate a location in a second direction opposite to the firstdirection, e.g., in a direction away from the patient. Such terms areprovided to establish relative frames of reference, however, and are notintended to limit the use or orientation of a communication device orsurgical robotic system to a specific configuration described in thevarious embodiments below.

In an aspect, communication devices including surgical toolsincorporating audio systems that can be located within a sterile area ofan operating arena are provided. More particularly, a communicationdevice can include a surgical tool that incorporates one or moremicrophone(s) or speaker(s). The microphone(s) or speaker(s) can face asurrounding environment, e.g., may be located between a sterile barrieron an operating table and surrounding bedside staff, during a surgery.The microphone(s) or speaker(s) may be mounted on a proximal portion ofa device, such as on a housing of an endoscope that is opposite to adistal end of the endoscope that inserts into a patient, or on a sterileadapter of a sterile barrier, to pick up the voice of the bedside staffworking around the operating table while the surgical tools are in use.In another aspect, the surgical tools are used as part of the normalworkflow of the surgery, and thus, the use of the surgical tools in thecommunication devices to facilitate communications between the bedsidestaff and the remote surgeon is inherent in the process flow. Moreparticularly, the microphone(s) or speaker(s) are integrated directlyinto the surgical tools used to operate on a patient, and thus, theaudio transducers can be naturally located between the operating tableand the bedside staff during a surgery.

Referring to FIG. 1, this is a pictorial view of an example surgicalrobotic system in an operating arena. A surgical robotic system 100includes a user console 120, a control tower 130, and one or moresurgical robotic arms 112 at a surgical robotic platform 111, e.g., atable, a bed, etc. The surgical robotic system 100 can incorporate anynumber of devices, tools, or accessories used to perform surgery on apatient 102. For example, the surgical robotic system 100 may include acommunication device or a communication apparatus to facilitate vocalcommunications between surgeons and tableside staff. The communicationdevice or communication apparatus can include one or more surgical tools104 used to perform surgery. A surgical tool 104 may have an endeffector, and may attach to a distal end of a robotic arm 112, forexecuting a surgical procedure. Surgical tool 104 may not be attached torobotic arm 112, e.g., surgical tool 104 may be a sterile barrier, asdescribed below.

Each surgical tool 104 may be manipulated manually, robotically, orboth, during the surgery. For example, surgical tool 104 may be a toolused to enter, view, or manipulate an internal anatomy of patient 102,or surgical tool 104 can be a grasper that can grasp tissue of patient102. Surgical tool 104 may be handled manually, by a tableside staff106; or it may be controlled robotically, via actuated movement of thesurgical robotic arm 112 to which it is attached. Robotic arms 112 areshown as a table-mounted system, but in other configurations the arms112 may be mounted in a cart, ceiling or sidewall, or in anothersuitable structural support.

Generally, a remote operator 107, such as a surgeon or other operator,may use the user console 120 to remotely manipulate the arms 112 and/orsurgical tools 104, e.g., by teleoperation. The user console 120 may belocated in the same operating room as the rest of the system 100, asshown in FIG. 1. In other environments however, the user console 120 maybe located in an adjacent or nearby room, or it may be at a remotelocation, e.g., in a different building, city, or country. The userconsole 120 may comprise a seat 122, foot-operated controls 124, one ormore handheld user interface devices, UIDS 126, and at least one userdisplay 128 that is configured to display, for example, a view of thesurgical site inside patient 102. In the example user console 120,remote operator 107 is sitting in seat 122 and viewing the user display128 while manipulating a foot-operated control 124 and a handheld UID126 in order to remotely command the arms 112 and surgical tools 104(that are mounted on the distal ends of the arms 112). Foot-operatedcontrol(s) 124 can be foot pedals, such as seven pedals, that generatemotion control signals when actuated. User console 120 may include oneor more additional interface devices (FIG. 10), such as a microphone,keyboard, or a joystick, to receive inputs to command operations of userconsole 120 or surgical robotic system 100.

In some variations, tableside staff 106 may also operate system 100 inan “over the bed” mode, in which tableside staff 106 (user) is now at aside of patient 102 and is simultaneously manipulating arobotically-driven tool (end effector attached to arm 112), e.g., with ahandheld UID 126 held in one hand, and a manual laparoscopic tool. Forexample, the tableside staff's left hand may be manipulating thehandheld UID 126 to command a robotic component, while the tablesidestaff's right hand may be manipulating a manual laparoscopic tool. Thus,in these variations, tableside staff 106 may perform bothrobotic-assisted minimally invasive surgery and manual laparoscopicsurgery on patient 102.

During an example procedure (surgery), patient 102 is prepped and drapedin a sterile fashion to achieve anesthesia. Initial access to thesurgical site may be performed manually while the arms of the surgicalrobotic system 100 are in a stowed configuration, e.g., under platform111, or a withdrawn configuration (to facilitate access to the surgicalsite). Once access is completed, initial positioning or preparation ofthe surgical robotic system including its arms 112 may be performed.Next, the surgery proceeds with the remote operator 107 at the userconsole 120 utilizing the foot-operated controls 124 and the UIDs 126 tomanipulate the various end effectors and perhaps an imaging system, toperform the surgery. Manual assistance may also be provided at theprocedure bed or table, by sterile-gowned bedside personnel, e.g.,tableside staff 106 who may perform tasks such as retracting tissues,performing manual repositioning, and tool exchange upon one or more ofthe robotic arms 112. Non-sterile personnel may also be present toassist remote operator 107 at the user console 120. When the procedureor surgery is completed, the system 100 and/or user console 120 may beconfigured or set in a state to facilitate post-operative proceduressuch as cleaning or sterilization and healthcare record entry orprintout via user console 120.

In one embodiment, remote operator 107 holds and moves UID 126 toprovide an input command to move a robot arm actuator 114 in surgicalrobotic system 100. UID 126 may be communicatively coupled to the restof surgical robotic system 100, e.g., via a console computer system 110.UID 126 can generate spatial state signals corresponding to movement ofUID 126, e.g., position and orientation of the handheld housing of theUID, and the spatial state signals may be input signals to control amotion of the robot arm actuator 114. Surgical robotic system 100 mayuse control signals derived from the spatial state signals, to controlproportional motion of actuator 114. In one embodiment, a consoleprocessor of console computer system 110 receives the spatial statesignals and generates the corresponding control signals. Based on thesecontrol signals, which control how the actuator 114 is energized to movea segment or link of arm 112, the movement of a corresponding surgicaltool 104 that is attached to the arm may mimic the movement of UID 126.Similarly, interaction between remote operator 107 and UID 126 cangenerate for example a grip control signal that causes a jaw of agrasper of surgical tool 104 to close and grip the tissue of patient102.

Surgical robotic system 100 may include several UIDs 126, whererespective control signals are generated for each UID that command theactuators and the surgical tool (end effector) of a respective arm 112.For example, remote operator 107 may move a first UID 126 to command themotion of actuator 114 that is in a left robotic arm, where the actuatorresponds by moving linkages, gears, etc., in that arm 112. Similarly,movement of a second UID 126 by remote operator 107 commands the motionof another actuator 114, which in turn moves other linkages, gears,etc., of the surgical robotic system 100. Surgical robotic system 100may include a right arm 112 that is secured to the bed or table to theright side of the patient, and a left arm 112 that is at the left sideof the patient. An actuator 114 may include one or more motors that arecontrolled so that they drive the rotation or linear movement of a jointof arm 112, to for example change, relative to the patient, anorientation of an endoscope or a grasper of the surgical tool that isattached to that arm. Motion of several actuators 114 in the same arm112 can be controlled by the spatial state signals generated from aparticular UID 126. UIDs 126 can also command motion of respectivesurgical tool graspers. For example, each UID 126 can generate arespective grip signal to control motion of an actuator, e.g., a linearactuator, that opens or closes jaws of the grasper at a distal end ofthe surgical tool to grip tissue within patient 102.

In some aspects, the communication between platform 111 and user console120 may be through a control tower 130, which may translate usercommands that are received from user console 120 (and more particularlyfrom console computer system 110) into robotic control commands that aretransmitted to arms 112 on robotic platform 111. The control tower 130may also transmit status and feedback from platform 111 back to userconsole 120. The communication connections between the robotic platform111, user console 120, and control tower 130 may be via wired and/orwireless links, using any suitable ones of a variety of datacommunication protocols. Any wired connections may be optionally builtinto the floor and/or walls or ceiling of the operating room. Surgicalrobotic system 100 may provide video output to one or more displays,including displays within the operating room as well as remote displaysthat are accessible via the Internet or other networks. The video outputor feed may also be encrypted to ensure privacy and all or portions ofthe video output may be saved to a server or electronic healthcarerecord system.

It will be appreciated that the operating room scene in FIG. 1 isillustrative and may not accurately represent certain medical practices.

As described above, surgical tool 104 may be a tool used to facilitatesurgery. Surgical tool 104 can be a tool to actively enter, view, ormanipulate an internal anatomy of patient 102. In an embodiment,surgical tool 104 is a video imaging device. For example, surgical tool104 can include an endoscope (FIG. 2) used to perform endoscopicsurgery. The endoscope can be manually handled by tableside staff 106.For example, tableside staff 106 may mount the endoscope onto a roboticarm 112 of surgical robotic system 100. Tableside staff 106 may alsodetach the endoscope from robotic arm 112 to manually handle anorientation or a location of surgical tool 104. Thus, beside operator106 or robotic arm 112 can move and manipulate the endoscope to performsurgery on patient 102.

In an embodiment, surgical tool 104 is a surgical instrument formanipulating tissue. Surgical tool 104 can include a grasper or anothercomponent to engage and manipulate tissue. For example, the surgicalinstrument can be manually handled by tableside staff 106 or mounted onrobotic arm 112 to grasp and manipulate tissue.

Surgical tool 104 can be a tool that remains outside of patient 102 tofacilitate surgery. In an embodiment, surgical tool 104 is a sterilebarrier (FIG. 7) to define a sterile zone of a surrounding environment.Tableside staff 106 may place the sterile barrier over patient 102 toform the sterile zone within the surrounding environment. For example,the sterile zone may include a region of the surrounding environmentbetween the sterile barrier and tableside staff 106. In an embodiment,surgical tool 104 includes a sterile adapter, as described below, and amicrophone can be mounted on the sterile adapter.

User console 120 may be telecommunicatively coupled to a communicationdevice having surgical tool 104 to exchange audio data. That is, audiodata may be exchanged between user console 120 and surgical tool 104 toallow remote operator 107 to converse with tableside staff 106. In anembodiment, an audio transducer, e.g., a microphone or a speaker, ismounted on a portion of surgical tool 104 to receive a voice oftableside staff 106 or emit sound output to tableside staff 106. Aportion of surgical tool 104 can be between a surgical drape placed overpatient 102 and the surrounding environment. By contrast, a distalportion of surgical tool 104 may be between the drape and operatingtable 111, e.g., within patient 102. In an embodiment, the audiotransducer is mounted on the portion between a sterile barrier andtableside staff 106. Thus, sound propagating toward patient 102 fromtableside staff 106 within the sterile zone can be picked up by theaudio transducer. Similarly, sound emitted by the audio transducer canpropagate through the sterile zone and be heard by tableside staff 106.

In an embodiment, the audio transducer is an acoustoelectric transducer,e.g., a microphone, to convert a sound input, e.g., the voice oftableside staff 106, into an audio signal, e.g., a microphone outputsignal. The microphone output signal can be an electrical signal that isprocessed by and/or transmitted from surgical tool 104 to computersystem 110 of user console 120. As described below, the microphoneoutput signal may encode audio data to be communicated by a wired orwireless connection between surgical tool 104 and user console 120.Accordingly, user console 120 may receive the microphone output signal,and one or more console speakers 150 mounted on user console 120 canreceive the microphone output signal from processor 302. Consolespeaker(s) 150 can convert the microphone output signals into a soundoutput. The sound output may reproduce the speech from tableside staff106 to be heard by remote operator 107.

Audio communication between user console 120 and surgical tool 104 maybe two-way. For example, a console microphone 152 mounted on userconsole 120 may receive a sound input, e.g., a voice, from remoteoperator 107 at user console 120. Console microphone 152 can convert thesound input from the user into an audio signal encoding the voice data.User console 120 can be in communication with robotic arm 112 and/or thecommunication device having surgical tool 104, and accordingly, thevoice data may be exchanged between computer system 110 and surgicaltool 104 via an electrical communication connection. In an embodiment,an audio transducer of surgical tool 104 is an electroacoustictransducer, e.g., a speaker, to convert the electrical voice signalsinto a sound output reproducing the speech of remote operator 107 to beheard by tableside staff 106. Accordingly, remote operator 107 andtableside staff 106 may communicate clearly even when tableside staff106 is not facing remote operator 107.

Remote surgical tool 104 may be another surgical tool or accessoryintegrating a microphone or speaker to be located between the sterilebarrier and tableside staff 106 within the surgical arena. For example,surgical tool 104 may be a sterile barrier having a drape covering aportion of surgical robotic system 100 or patient 102. The sterilebarrier can integrate a microphone on an external surface facing awayfrom patient 102 and facing the surrounding environment. In anembodiment, the drape of the sterile barrier is a sleeve to be placedover robotic arm 112 of surgical robotic system 100. As described below,the sleeve may include a sterile adapter to allow robotic arm 112 totransmit mechanical forces to another surgical device, e.g., anendoscope, mounted on the robotic arm. A microphone or speaker may bemounted on an external surface of a portion of the sleeve, e.g., thesterile adapter, to receive or emit sound within the space between thesterile barrier and tableside staff 106.

Referring to FIG. 2, a perspective view of a communication device isshown in accordance with an embodiment. A communication device 200 insurgical robotic system 100 can be used to facilitate vocalcommunications between surgeons 107 and tableside staff 106.Communication device 200 can include a surgical tool 104. In anembodiment, surgical tool 104 is a video imaging device. For example,the video imaging device can include an endoscope, such as alaparoscope. In an embodiment, the endoscope is a manual surgical tool.More particularly, the endoscope may be intended to be held andmanipulated by an operator, and not a surgical robotic system. Theendoscope can include a proximal portion to be held by the operator, anda distal portion extending longitudinally from the proximal portion. Thedistal portion is to be inserted into patient 102. Accordingly, thedistal portion can be within a space between a sterile barrier andoperating table 111 (e.g., within patient 102) during surgery, and theproximal portion can be external to the sterile barrier, such as betweenthe sterile barrier and tableside staff 106.

Surgical tool 104 can include an elongated shaft 202 extendinglongitudinally along a central axis 204. Shaft 202 can be rigid orflexible. For example, shaft 202 can be a rigid metallic tube extendingto a distal tip 206. Distal tip 206 may be straight or angled to allowthe operator to direct distal tip 206 toward a target anatomy. Distaltip 206 can be inserted into the target anatomy. Furthermore, distal tip206 can be actuatable to change a shape of distal tip 206 from astraight tip to an angled tip. More particularly, the endoscope mayinclude controls, such as tension cables, that can be actuated totransition distal tip 206 from a straight configuration to a curvedconfiguration.

In an embodiment, an optical subsystem (not shown) is mounted on distaltip 206. The optical subsystem can include an endoscope camera. Theoptical subsystem can include one or more of an objective lens, acharge-coupled device, an illumination lens, or a light-emitting diode.Accordingly, the optical subsystem can illuminate an interior anatomy ofpatient 102 and obtain visual data of, i.e., view, the interior anatomy.The vision data can be transmitted from the optical subsystem throughshaft 202 by corresponding circuitry.

Surgical tool can include a housing 208 mounted on shaft 202 proximal todistal tip 206. For example, housing 208 may be coupled to a proximalend 350 (FIG. 3) of shaft 202. Shaft 202 may extend into housing 208.For example, proximal end 350 of shaft 202 can be a region of shaft 202opposite from distal tip 206, and may be surrounded by electronichousing walls. Housing 208 can have any shape. In an embodiment, housing208 includes a cylindrical portion having an outer surface 209 aroundcentral axis 204. More particularly, outer surface 209 may besymmetrically disposed about central axis 204. For example, outersurface 209 may have a circular profile centered on central axis 204.Housing 208 can be located along central axis 204 external to thesterile barrier, and thus, outer surface 209 may face the surroundingenvironment around central axis 204. Accordingly, a wall of housing 208having outer surface 209 can provide a useful mounting surface to holdan audio transducer of the endoscope.

One or more microphones 210 may be mounted on an outer surface ofsurgical tool 104. For example, one or more microphones may be mountedon housing 208. In an embodiment, several microphones 210 are mounted onouter surface 209 of housing 208. Microphone(s) 210 can be at a proximalend of housing 208 or along a sidewall of housing 208. During a surgery,microphone(s) 210 can be operatively disposed above a sterile barrier,and accordingly, microphone(s) 210 can be in front of tableside staff106 during the surgery. For example, the sterile barrier can coverportions of surgical robotic system 100, and surgical tool 100 can bemounted on an opposite side of sterile barrier from the coveredportions. Similarly, the sterile barrier can cover patient 102, and adistal end of shaft can be inserted into patient 102 through a hole inthe sterile barrier, while proximal end 350 remains located above thesterile barrier. Accordingly, microphone(s) 210 can receive a soundinput, e.g., a voice of tableside staff 106, and convert the sound inputinto respective audio signals, e.g., microphone output signals. Thesound input can be used for various purposes, including voice control ofsurgical robotic systems, transcription, and telemonitoring.

In an embodiment, the endoscope includes several microphones 210arranged in a microphone array. More particularly, the microphone arraycan include at least two microphones 210. The microphone array canfacilitate several advantageous audio functions. For example, themicrophone array can allow the endoscope to perform noise reductionand/or to determine a direction of a sound source, as described below.When several microphones 210 are integrated in surgical tool 104, themicrophones can generate several microphone output signals that may beprocessed to provide such functionality.

The endoscope may include one or more speakers 212. Speaker(s) 212 canbe mounted on outer surface 209 of housing 208. A single speaker 212 canbe mounted on a proximal end of housing 208 on central axis 204. Forexample, outer surface 209 may have a cylindrical sidewall extendingparallel to central axis 204 and intersecting an end wall extendingtransverse to central axis 204, and speaker 212 may be mounted on theend wall such that central axis 204 extends through speaker 212. Severalmicrophones 210 may be arranged around the single speaker 212 on outersurface 209. The microphones 210 may be on the sidewall and/or the endwall of outer surface 209, e.g., arranged along an edge of anintersection of the sidewall and the end wall. Several speakers 212 maybe mounted along the sidewall of housing 208 around central axis 204,e.g., in a speaker array. Like microphone(s) 210 of the endoscope,speaker(s) 212 may be located between the sterile barrier and tablesidestaff 106 during a surgery, and thus, speaker(s) 212 may receive anacoustic output signal and convert the acoustic output signal into asound output to be heard by tableside staff 106. The sound output can bea voice of remote operator 107, an alarm, an alert, etc.

Microphone output signal generated by microphone 210 and acoustic outputsignal received by speaker 212 may be processed and transmitted viacircuitry, which can optionally be within housing 208 or at anotherlocation, such as within user console 120 or control tower 130. Theelectrical signals representing audio data can be communicated outsideof housing 208 through a wired or wireless connection. In an embodiment,an electrical cable 214 is attached to housing 208 to exchangeelectrical signals between housing 208 and user console 120 (and/orcontrol tower 130). The electrical signals can be power or data signals,and thus, electrical cable 214 may include one or more of a power wireor a data wire. Electrical cable 214 may carry information betweensurgical tool 104, e.g., from the endoscope, and user console 120

Referring to FIG. 3, a cross-sectional view, taken about line A-A ofFIG. 2, of a housing of a surgical tool is shown in accordance with anembodiment. Electrical signals transmitted through electrical cable 214may originate from or be received by a processor 302, which mayoptionally be located in housing 208. Alternatively, processor 302 maybe remotely located, e.g., within user console 120 or control tower 130,and may be in signal communication with the electronics of theendoscope, e.g., microphone(s) 210 or speaker(s) 212. For example,processor 302 can be communicatively coupled, e.g., electricallyconnected, to microphone(s) 210 of the endoscope to receive microphoneoutput signals generated by microphone(s) 210 in response to animpinging sound input 304 from a source 306, e.g., tableside staff 106.Similarly, processor 302 can be communicatively coupled, e.g.,electrically connected, to speaker(s) 212 to output an acoustic outputsignal to speaker(s) 212. The acoustic output signal can be an audiosignal received by processor 302 from another sound input, such as froma user at user console 120. Speaker(s) 212 can receive the acousticoutput signal and convert the audio signal into a sound output 308.Processor 302 can process and transmit audio signals such as microphoneoutput signals of microphone(s) 210 and acoustic output signals ofspeaker(s) 212. For example, processor 302 can be communicativelycoupled to microphone(s) 210 of surgical tool 104 and microphone(s) 152of user console 120, and can process and transmit respective audiosignals generated by the microphone(s) to facilitate vocal communicationbetween tableside staff 106 and the user at user console 120. Processor302 can perform several audio processing functions to enhance suchcommunications between remote operator 107 and tableside staff 106, asdescribed below.

In an embodiment, processor 302 may incorporate analog or digital signalprocessing components to reduce unwanted environmental noise. Moreparticularly, processor 302 may receive microphone output signals fromone or more microphones 210 to perform noise reduction. In anembodiment, microphone 210 is located on outer surface 209 of housing208 to receive sound input 304 from source 306. Microphone 210 canreceive sound input 304 from source 306 and convert the sound into anaudio signal that is provided to signal processing circuitry ofprocessor 302. Processor 302 can process the audio signal to measure abackground noise in the signal. For example, processor 302 can detectand measure ambient sound from the surrounding environment, beepingsounds coming from electronics within the operating arena, fan noise,etc. Processor 302 can perform noise reduction algorithms on the audiosignal to reduce the background noise in the signal. The modified signalcan be output by processor 302 to transmit a clear acoustic signal touser console 120 for reproduction to remote operator 107.

Processor 302 may incorporate analog or digital signal processingcomponents to determine a direction of source 306 of sound input 304. Inan embodiment, central axis 204 extends through housing 208 and severalmicrophones 210 are mounted on outer surface 209 around central axis204. For example, several microphones 210 may be arranged symmetricallyabout central axis 204 to form a microphone array. The microphone(s) inthe array can be arranged equidistantly with each other in a plane. Forexample, the plane may extend perpendicular to central axis 204 and/orshaft 202 such that the equidistantly spaced microphones on the planeform a ring around central axis 204. The microphone array can be mountedon the outer surface of housing 208 and oriented to face a particulardirection. For example, the array can be located on a proximal end wallof housing 208 such that each microphone 210 faces a proximal direction.By way of example, each microphone 210 may have a diaphragm having aplane that is oriented within 45-90 degrees from central axis 204 toreceive sound propagating toward housing 208 from the surroundingenvironment.

In an embodiment, processor 302 processes audio signal(s) from each ofthe microphone(s) 210 in the array to detect an acoustic location ofsound source 306. For example, processor 302 can determine a distanceand/or direction of sound source 306 relative to surgical tool 104.Detection of the source location can be performed actively or passively.In an embodiment, detection of the source location is passive, andincludes detection based on a time difference of arrival at severalmicrophone(s) 210. For example, the respective diaphragms of eachmicrophone 210 in the microphone array can be located and/or directeddifferently such that an impinging sound, e.g., sound input 304, excitesa different response in each microphone 210. For example, primarymicrophone 210A may be nearer to and/or facing source 306 more ascompared to secondary microphone 210B. Accordingly, primary microphone210A may generate a first microphone output signal based on its positionrelative to the sound source and secondary microphone 210B may generatea second microphone output signal based on its position relative to thesound source. Signal processing circuitry of processor 302 can performdirection of arrival processing on the microphone output signals todetect a direction of arrival of sound input 304. For example, processor302 can use a cross-correlation function between the first microphoneoutput signal and the second microphone output signal to determine adirection of source 306. More particularly, the microphone array cangenerate several microphone output signals that may be differentiated todetect voice directionality within the operating arena. For example,source direction information can be used to determine a location ordirection within the operating arena at which tableside staff 106 islocated.

It will be appreciated that a number of microphones 210 in themicrophone array corresponds to a number of microphone output signalsthat may be processed by processor 302. Processor 302 may use thesesignals for different purposes. For example, at least two microphone(s)210 can output at least two signals that may be used to detect thedirection of arrival of a sound from a sound source in a two-dimensionalplane. By contrast, at least three microphone(s) 210 can output at leastthree signals that may be used to detect the direction of arrival of thesound from a sound source in a three-dimensional space. In anembodiment, processor 302 can determine a location of the sound sourcebased on the signals output by three or more microphones 210. Forexample, microphone output signals from three or more microphones 210can be used to perform triangulation processing to determine thelocation of the sound source in the operating arena.

Detection of a source of sound and a direction of the source can improvecommunication between the user at user console 120 and tableside staff106 in the operating arena. For example, when the source location isknown, processor 302 can emphasize sound pick up in the detecteddirection of arrival of sound input 304, using a beam forming algorithm.The beam forming algorithm can, for example, increase a gain ofmicrophone(s) 210 toward the source location. Processor 302 can alsoemphasize speech of a particular operator after detecting the sourcelocations. For example, the speech of the particular operator can besound input 304, and processor 302 can identify the speech as comingfrom the particular operator. Thereafter, processor 302 can detect thespeech from the particular operator as part of a direction of arrivalprocessing, and beam form sound communications toward the particularoperator as the operator moves about the operating arena. The voices ofother operators, or of other sounds such as beeps or fan noise in thesurrounding environment, can be deemphasized by processor 302.Similarly, sound output from speaker(s) 212 can be controlled to beamsound toward the source location. Accordingly, communication between theuser at user console 120 and tableside staff 106 in the operating arenacan be improved.

Housing 208 may contain electronics circuitry corresponding to non-audiofunctionalities of the endoscope. For example, application-specificcircuitry may include image sensing circuitry or orientation sensingcircuitry in one or more integrated circuits optionally mounted withinhousing 208. In an embodiment, processor 302 is mounted on a circuitboard within housing 208. The circuit board may exchange electricalsignals with the optical subsystem at distal lip 206.

In an embodiment, the optical subsystem at distal tip 206 exchangeselectrical and/or optical signals directly with control tower 130. Moreparticularly, optical fibers can run from control tower 130 through asheathing of electrical cable 214, or through a dedicated optical cable,to the cameras on distal tip 206 of the endoscope. For example, theendoscope may include an efferent electrical and/or optical connector314 to carry electrical or optical signals to the optical subsystem, andan afferent electrical connector 316 to carry electrical or opticalsignals from the optical subsystem. Efferent electrical or opticalsignals can include control signals to control illumination or focalparameters of the optical subsystem and afferent electrical signals canencode image data of anatomical images captured by the opticalsubsystem.

In an embodiment, the endoscope may be used for laparoscopic surgery andone or more orientation sensors or tracking technologies may beincorporated in the endoscope to determine position and orientationinformation during the surgery. Surgical tool 104 can include aninertial measurement unit (IMU) 318 having an accelerometer to generatean orientation signal of a body attached to IMU 318. IMU 318 may bemounted within housing 208. IMU 318 can be attached to the circuit boardand can be electrically connected to processor 302. Thus, IMU 318 may befixed relative to housing 208, and IMU 318 may generate an orientationsignal corresponding to a position or orientation of housing 208 inspace. IMU 318 may transmit the orientation signal to processor 302, andprocessor 302 may determine an orientation of housing 208 based on theorientation signal.

The determined orientation can be used for several purposes. Forexample, the orientation signal can be used to determine whethertableside staff 106 has laid surgical tool 104 on a surgical drape whenusing surgical tool 104 in a manual mode, e.g., when performing surgicaloperations when holding surgical tool 104 by hand. The orientationsignal from IMU 318 can be used to determine which portion of themicrophone array 210 to activate to listen to a user. For example, theorientation signal can be used to determine the microphones 210 of thearray that are facing the bed or are near drapes, and thus, thosemicrophones can be disabled to direct the microphone pickup toward thevoices in the operating arena, e.g., the microphones 210 nearest to theuser can be activated for listening. Similarly, the orientation signalfrom IMU 318 can be used to determine a direction to focus a soundoutput from one or more speakers 212. For example, the orientationsignal can be used to determine the speakers 212 of an array that arefacing away from the bed or drapes and toward the operating arena.Accordingly, those speakers can be activated to output sound to thenearby tableside staff 106, and not toward the bed or drapes.

Microphone 210 and speaker 212 of surgical tool 104 may be sterilizable.More particularly, the components of microphone 210 and speaker 212,e.g., a diaphragm, surround, voicecoil, etc., may be sterilizable by lowtemperature sterilization processes. The processes may heat surgicaltool 104 to a temperature of 135 degrees Fahrenheit without damaging thecomponents of microphone 210 and speaker 212. Accordingly, surgical tool104 may be sterilized and reused without replacing the speaker ormicrophone components.

Referring to FIG. 4, a perspective view of a communication device isshown in accordance with an embodiment. In an embodiment, surgical tool104 of communication device 200 may include a robotically-controlledendoscope. More particularly, the position or orientation of theendoscope may be manipulated by another component of surgical roboticsystem 100, such as by robotic arm 112. In an embodiment, surgical tool104 includes a transmission housing 402 mounted on shaft 202.Transmission housing 402 may interface with robotic arm 112. That is,transmission housing 402 may connect directly or indirectly with roboticarm 112, e.g., through a sterile adapter component, as described below.Transmission housing 402 can contain a mechanical transmission used toconvert a mechanical input from surgical robotic system 100 into amechanical output of the endoscope. For example, the mechanicaltransmission can drive rotation of shaft 202 or can actuate an endeffector (not shown) mounted at distal tip 206 of shaft 202.

A relative orientation between transmission housing 402 and housing 208can be different in different embodiments. For example, transmissionhousing 402 can be mounted on shaft 202 distal to housing 208 alongcentral axis 204. That is, transmission housing 402 may be closer to thedistal tip 206 than housing 208. Alternatively, housing 208 may bedistal to transmission housing 402, e.g., nearer to distal tip 206. Ineither case, housing 208 may move relative to transmission housing 402.For example, central axis 204 may extend through transmission housing402 and housing 208, and housing 208 may be rotatable about central axis204 relative to transmission housing 402. Rotation of housing 208 may becaused by a torque applied to shaft 202 by a transmission elementcontained in transmission housing 402. That is, transmission element(s)within transmission housing 402 can produce relative rotational motionbetween transmission housing 402 and housing 208. Accordingly,transmission housing 402 may remain fixed in space relative to an end ofrobotic arm 112 while housing 208 and shaft 202 rotate about centralaxis 204 to change an orientation of distal tip 206 within patient 102during a surgery.

The endoscope can include a manual input control 404 to allow tablesidestaff 106 to control a function of the endoscope. Manual input control404 may include one or more of a button, a scroll wheel, or a switchthat tableside staff 106 can actuate as a control input to processor302. By way of example, tableside staff 106 may press a button totrigger one or more of the audio, vision, or mechanical subsystems ofthe endoscope. In an embodiment, tableside staff 106 can actuate manualinput control 404 to enable communication between the endoscope and userconsole 120. For example, a transceiver of the endoscope can be in areceive mode, and when tableside staff 106 wants to talk to operator107, a “push-to-talk” button can be pressed to switch the transceiver toa transmit mode for communicating signals generated by microphones 210to user console 120.

In an embodiment, several microphones 210 are mounted on housing 208around central axis 204. For example, microphones 210 may be arrangedsymmetrically about central axis 204 on outer surface 209 of housing208. Similarly, one or more speakers 212 may be mounted on transmissionhousing 402, e.g., along an external wall of transmission housing 402.Accordingly, when housing 208 rotates relative to transmission housing402, the microphone array on housing 208 may rotate relative to speaker212 on transmission housing 402. The movement of microphones 210 can becompensated for by one or more of a structure or an audio processingalgorithm of the endoscope.

Referring to FIG. 5, a cross-sectional view, taken about line B-B ofFIG. 4, of an housing of a surgical tool is shown in accordance with anembodiment. The structure of the endoscope may compensate for microphonemovement. Microphones 210 may be symmetrically disposed about centralaxis 204. For example, when the microphone array includes eightmicrophones 210, each microphone may be located at a 45 degree angle(measured within a plane transverse to central axis 204) relative to apair of adjacent microphones 210. Accordingly, the field of audition foreach microphone 210 may be approximately the same. Microphones 210 canbe positionally balanced or evenly distributed about the central axis204.

The audio processing algorithm of the endoscope can compensate formicrophone movement by tracking a position of each microphone 210 withina frame of reference. When a first microphone 210 is directed toward asound source 306, a position of the sound source within a fixed frame ofreference, e.g., the operating arena, may be known. As the firstmicrophone 210 rotates away from the sound source 306 and a secondmicrophone 210 rotates toward the sound source 306, the angle ofrotation of the microphones 210 relative to the fixed frame of referencecan be tracked. For example, processor 302 can monitor a shaft encoderto determine a rotational orientation of housing 208 about central axis204. The rotational orientation can be used to change a parameter of themicrophone output signals. For example, the microphone output signalfrom the microphone rotating into alignment with the sound source may beused as a primary microphone output signal in a noise reductionalgorithm and the microphone output signal from the microphone rotatingaway from the sound source may be used as a secondary microphone outputsignal in the noise reduction algorithm.

As described above, orientation data from the endoscope may also be usedto direct the microphone pickup and/or designate primary and secondarymicrophones 210A, 210B. For example, orientation data from IMU 318 canbe processed to determine a relative orientation between microphone(s)210 and a surrounding environment. Similarly, arm tracking datagenerated by the robotics system for tracking and positioning arms 112within the operating arena can be used to determine an orientation ofthe endoscope within the operating arena. When the orientation of theendoscope is known, a position and direction of microphone(s) 210 can bedetermined. Accordingly, the microphone(s) 210 which are directed towarda region of interest can be activated to listen to the region and/or theprimary and secondary microphones 210A, 210B can be designated for noisereduction processing.

The audio processing algorithms can also be used to optimize audioquality based on movement of the endoscope as a whole. The endoscopeposition and orientation may be controlled by a surgical robotic systemunder the command of user console 120. For example, remote operator 107may command movement of robotic arm 112 through input commands enteredin user console 120, and thus, the position and orientation of theendoscope may be determined through robotics kinematics. Placement ofmicrophones 210 and speakers 212 on the endoscope are known, and thus, aposition and orientation of microphone 210 and/or speaker 212 may alsobe determined through kinematic algorithms. Audio processing algorithmsmay account for placement of microphone 210 and/or speaker 212 byoptimizing audio parameters of the audio transducers based on position.For example, amplifier gains or other parameters may be modified toaccount for the position of the audio transducers. That is, a gain ofmicrophone 210 and/or speaker 212 known to be facing tableside staff 106may be increased compared to a gain of an audio transducer not facingtableside staff 106. In this way, audio processing algorithm may allowremote operator 107 to select speakers 212 or microphones 210 to focuscommunication with one of several tableside staff 106 in the operatingarena.

The selection of an intended tableside staff 106 by remote operator 107may cause robotic arm 112 to orient the endoscope in a manner thatplaces an audio transducer at an optimal location. For example, when asingle speaker 212 is mounted on transmission housing 402, robotic arm112 may twist the endoscope to direct the speaker 212 toward theintended tableside staff 106.

The audio processing algorithm can also adjust to account for a decreasein audio performance due to movement of the endoscope. For example,movement of robotic arm 112 can generate noise that does not provideuseful information to remote operator 107. When robotic arm 112 movesthe endoscope, audio pick up by microphone 210 of the endoscope may beturned off or an audio gain of microphone 210 may be reduced. The noisereduction may reduce the likelihood of distracting remote operator 107with noise.

Referring to FIG. 6, a cross-sectional view, taken about line C-C ofFIG. 4, of a transmission housing of a surgical tool is shown inaccordance with an embodiment. The endoscope can include a mechanicaltransmission to drive rotation of housing 208. The transmission caninclude transmission housing 402 and one or more mechanical transmissionelements. By way of example, the endoscope may include a gear train 602within transmission housing 402 to transmit power from an externalsource, e.g., a motor drive of robotic arm 112, to an output, e.g.,housing 208. In an embodiment, transmission housing 402 includes atransmission element 604 coupled to housing 208 through one or moreintermediate gears. Transmission element 604 can be a disc having inputprongs 606 to engage with corresponding recesses in the motor drive ofrobotic arm 112. The motor drive can have a rotating output shaft, androtation of the output shaft can be transmitted as torque totransmission element 604 through input prongs 606. Transmission element604 may drive gear train 602. Gear train 602 can include several gears,e.g., spur or bevel gears, mounted on respective shafts withintransmission housing 402. The mechanical transmission can also includebelts and pulleys to transmit torque. The gears of gear train 602 maymesh to transmit torque from transmission element 604 to shaft 202and/or housing 208. More particularly, shaft 202 may be connected tohousing 208, and thus, when the transmission rotates one of shaft 202 orhousing 208, the other of shaft 202 and housing 208 may also rotate.

In an embodiment, surgical tool 104 can incorporate a motor to rotate atool component. For example, surgical tool 104 can be a surgicalinstrument, and a housing of surgical tool 104, e.g., housing 208 ortransmission housing 402, can contain a motor to rotate a component ofthe surgical instrument. The motor can drive shaft 202 directly, e.g.,shaft 202 may be connected to an output of the motor, or the motor candrive shaft 202 through gear train 602. Accordingly, the motor ofsurgical tool 104 can drive a camera, jaws, etc. of the surgicalinstrument.

Housing(s) of surgical tool 104 optionally contain processor 302 and/orother circuitry. For example, the housing(s) can contain an electricalcircuit to provide power to tool components. The electrical circuit candeliver power to processor 302 or the motor described above. Similarly,the electrical circuit can deliver power to a component of the surgicalinstrument, such as a light emitting element, a cauterizer, etc. It willbe appreciated, however, that processor 302 and other circuitry may belocated in other components of surgical robotic system 100, e.g., userconsole 120 or control tower 130, and placed in communication withsystem components via wired or wireless connections.

Referring to FIG. 7, a perspective view of a communication device isshown in accordance with an embodiment. In an embodiment, surgical tool104 of communication device 200 is a sterile barrier used to separatepatient 102 and/or a component of surgical robotic system 100 from thesurrounding environment. For example, surgical tool 104 may be sterilebarrier having a drape that is placed over patient 102 during a surgery.The drape can be a woven fabric meeting the standard of practice relatedto surgical drapes. Similarly, the drape can be a polymer materialmeeting sterility requirements of the surgical procedure. By way ofexample, the drape can have a sheet-like or blanket-like shape to coverpatient 102 on operating table 111.

The sterile barrier may include a drape 702 to be placed over roboticarm 112 of surgical robotic system 100. In an embodiment, drape 702 is atubular sleeve that may be mounted over an end effector or some portionof a length of robotic arm 112. More particularly, the tubular sleevecan have a hollow cavity surrounded by a sleeve wall 705 to receiverobotic arm 112. The hollow cavity may extend longitudinally through thetubular sleeve from an open end 706 to a closed end 708. Open end 706and closed end 708 of the tubular sleeve may be defined by communicationof an interior space of sleeve through the ends. More particularly,sleeve wall 705 may be between an interior space (hidden) of the sterilebarrier and an exterior space 710, e.g., the surrounding environment.The interior space may be in fluid communication with exterior space 710through open end 706 at a first longitudinal end of the tubular sleeve.By contrast, closed end 708 may separate the interior space fromexterior space 710 at a second longitudinal end of the tubular sleeve.Accordingly, an end effector of robotic arm 112 may be disposed withinthe tubular sleeve near closed end 708 such that drape 702 covers aportion of robotic arm 112.

Surgical tool 104 can be coupled to robotic arm 112 around operatingtable 111 of surgical robotic system 100. For example, sterile adapter712 may be operatively coupled to robotic arm 112 of surgical roboticsystem 100. An output shaft of a motor drive of robotic arm 112 maycommunicate with exterior space 710 through sterile adapter 712incorporated in the sterile barrier. In an embodiment, drape 702includes a cavity in sleeve wall 705 (FIG. 8) and sterile adapter 712 isintegrated in the cavity. For example, sterile adapter 712 can bemounted on drape 702 over the cavity. Sterile adapter 712 can includeone or more transmission elements 604 that engage with a motor drive ofrobotic arm 112 and a corresponding transmission element 604 (FIG. 6) oftransmission housing 402 of the endoscope to allow the motor drive todrive rotation of housing 208 as described above. The endoscope can bemounted on a mounting body 714 of sterile adapter 712, e.g., by holdingshaft 202 of the endoscope between a pair of prongs extending orthogonalto a mounting surface 718 of mounting body 714.

Sterile adapter 712 may include an audio transducer to facilitatecommunication between remote operator 107 and tableside staff 106. Moreparticularly, one or more microphones may be mounted on an outer surfaceof sterile adapter 712. For example, microphone 210 may be mounted onsterile adapter 712 facing the surrounding environment to receive soundinput 304 from tableside staff 106 and to convert the sound output intoan audio signal, e.g., a microphone output signal, for transmission touser console 120. Similarly, speaker 212 may be mounted on sterileadapter 712 facing the surrounding environment to convert an acousticoutput signal from processor 302 into a sound output to be heard bytableside staff 106. Furthermore, sterile adapter 712 may maintain asterile barrier within the surgical arena. For example, sterile adapter712 may cover the cavity in drape 702 to maintain exterior space 710 asthe sterile zone and an interior space as a potentially non-sterilespace.

All portions of the sterile barrier, including drape 702 and sterileadapter 712, may be sterilizable and disposable, whether drape 702 has asheet-like or a tubular sleeve configuration. For example, drape 702 maybe sterilizable by ethylene oxide or gamma sterilization processes.

Referring to FIG. 8, a cross-sectional view, taken about line D-D ofFIG. 7, of a sterile adapter on a drape is shown in accordance with anembodiment. Drape 702 may be connected to a portion of sterile adapter712. In an embodiment, drape 702 is attached to mounting body 714 ofsterile adapter 712 around a cavity 802. For example, cavity 802 may bein sleeve wall 705, extending from exterior space 710 into an interiorspace 804, and sterile adapter 712 can be mounted on sleeve wall 705over cavity 802. Sleeve wall 705 can be attached to sterile adapter 712using adhesive or thermal welding techniques. For example, when drape702 is a sheet-like fabric surgical drape, sterile adapter 712 may beattached to drape 702 by an adhesive seal, such as a seal formed by asilicone adhesive sealant. Alternatively, when drape 702 is a polymerictubular sleeve, sterile adapter 712 may be attached to drape 702 by anadhesive seal, such as a seal formed by a cyanoacrylate bond, or by athermal weld, such as an ultrasonically formed thermal joint. Mountingbody 714 may be attached to sleeve wall 705 around cavity 802 such thatan inner surface 806 of sterile adapter 712 faces interior space 804.Similarly, an outer surface, such as mounting surface 718, may faceexterior space 710. In an embodiment, the outer surface is positionedabove drape 702, and accordingly, microphone 210 or speaker 212 can bemounted above drape 702 facing exterior space 710.

In an embodiment, sterile adapter 712 includes transmission element 604extending through mounting body 714 from interior space 804 to exteriorspace 710. Transmission element 604 may extend through sterile adapter712 from a region between the sterile barrier and operating table 111 toa region within the surrounding environment. Transmission element 604may include a drive disc 810 having an input face 812 exposed tointerior space 804 and an output face 814 exposed to exterior space 710.Accordingly, input face 812 may be within a nonsterile interior space804 defined by sterile adapter 712, and output face 814 may be within asterile exterior space 710 defined by sterile adapter 712. Drive disc810 may be retained within mounting body 714 by snap detents formedaround a disc sidewall that engages a corresponding channel formed in asidewall of a hole extending through mounting body 714.

Input face 812 or output face 814 may be parallel to each other. Thefaces may include features to engage with corresponding driving ordriven mechanisms. More particularly, drive disc 810 may include a boss820 extending into interior space 804 from input face 812. Boss 820 maybe sized and configured to engage with a corresponding recess in an endeffector of robotic arm 112. More particularly, the end effector may bean output shaft of a motor drive to transmit torque to drive disc 810via boss 820. Drive disc 810 may include a recess 822 extending intooutput face 814 from exterior space 710. Recess 822 may be sized andconfigured to receive a corresponding protrusion on a surface of theendoscope, e.g., input prong 606, when the endoscope is attached tomounting surface 718 of sterile adapter 712. Accordingly, torque inputto boss 820 by a motor drive may be transmitted to recess 822 and toinput prong 606 inserted into recess 822 when the endoscope and sterileadapter 712 are joined in surgical robotic system 100. Boss 820 andrecess 822 are provided by way of example and not limitation. That is,input face 812 and output face 814 may include bosses, recesses, orother features that can engage a mating surface, e.g., as a keyedattachment.

Referring to FIG. 9, a cross-sectional view, taken about line E-E ofFIG. 7, of a sterile adapter on a drape is shown in accordance with anembodiment. Electronics may be mounted on sterile adapter 712. In anembodiment, an audio transducer is mounted on sterile adapter 712. Forexample, microphone 210 and/or speaker 212 may be located on a sidewall902 of mounting body 714 facing toward the surrounding environment. Inan embodiment, microphone 210 and/or speaker 212 are integrated within arigid plastic portion of mounting body 714. For example, mounting body714 may be molded around microphone 210. Microphone 210 may be locatedon an outward facing surface of holding prong 716 such that a frontvolume of microphone 210 faces the surrounding environment. Accordingly,microphone 210 may receive sound input 304 propagating toward sterileadapter 712 from the surrounding environment. Other circuitry mounted onsterile adapter 712 can include light sources, such as light emittingdiodes, to indicate a status of microphone 210 or speaker 212 to a user,e.g., whether a microphone or a speaker is muted.

In an embodiment, several microphones 210 (shown in phantom) may bemounted on outer surface 209. The several microphones 210 can bepositioned with a predetermined relative spacing to facilitate audioprocessing of respective microphone output signals in a manner similarto the methods described above. For example, two or more, e.g., three,microphones 210 can be positioned equidistantly with each other on outersurface 209 to form a line 910 extending through the microphones. Aspacing of microphones 210 along line 910 can allow processor 302 toperform time of arrival processing of microphone output signal to detecta source location of a sound input and/or to measure and reducebackground noise in the audio signals, as described above. It is notedthat microphones 210 may be located on any region of outer surface 902,and thus, may form line 210 extending in different directions other thanthe vertical direction that is illustrated.

An inward facing surface of holding prong 716 may face a counterpartinward facing surface of an adjacent holding prong 716 across a holdingchannel 902. Holding channel 902 may be located between adjacent holdingprongs 716 to receive a portion of the endoscope, e.g., shaft 202.Holding prongs 716 may extend upward on opposite lateral sides of shaft202 to constrain lateral movement of shaft 202 when the endoscope ismounted on mounting surface 718 of sterile adapter 712.

Surgical tool 104 can include an interface mounted on sterile adapter712 to couple the one or more microphone(s) 210 electrically andcommunicatively to another component of surgical robotic system 100. Forexample, an electrical connector 904 may be electrically connected tomicrophone 210, and electrical connector 904 may extend to processor 302and/or robotic arm 112. Electrical connector 904 can pass throughmounting body 714 from outer surface 209, e.g., sidewall 902, to innersurface 806. For example, electrical connector 904 may be an electricalpin passing through a plastic wall of mounting body 714 to connect to anelectrical terminal of an audio transducer, e.g., microphone 210.Electrical connector 904 may include a connector affixed to mountingbody 714 and connected to a mating connector, e.g., by an electricalwire. More particularly, electrical connector 904 may include anelectrical wire, an electrical cable, or an electrical trace extendingthrough the interior space 804 and/or over inner surface 806 of mountingbody 714 from a first connector to a second connector. The firstconnector may be electrically connected to microphone 210 and the secondconnector may be electrically connected to processor 302. Electricalconnector 904 may electrically connect microphone 210 to processor 302such that processor 302 is communicatively coupled to microphone(s) 210to process and transmit audio signals generated by microphone(s) 210.Similarly, a housing of the audio transducer may extend through a wallof sterile adapter 712, and thus, electrical connector 904 may beconnected to microphone 210 or speaker 212 within interior space 804.Electrical connector 904 may extend from microphone 210 or speaker 212to processor 302 to transmit acoustic electrical signals throughinterior space 804 to or from processor 302. More particularly, theprocessor 302 may be mounted on inner surface 806 of mounting body 714,and electrical connector 904 may extend from microphone 210 or speaker212 to processor 302. As such, processor 302 can be electricallyconnected to microphone 210 or speaker 212 by electrical connector, andprocessor 302 may exchange acoustic electrical signals with microphone210 or speaker 212 through electrical connector 904. Processor 302,microphone 210, and/or speaker 212 may also receive power input signalsfrom an external source. For example, microphone 210 or speaker 212 mayreceive power from robotic arm 112 via pin contacts between circuitrymounted on sterile adapter 712 and corresponding circuitry integrated inan end effector of robotic arm 112. Alternatively, power may betransferred from robotic arm 112 to processor 302, microphone 210, orspeaker 212 using wireless power transfer, e.g., resonant inductivecoupling, between circuitry mounted on sterile adapter 712 andcorresponding circuitry integrated in an end effector of robotic arm112.

The sterile barrier can include a sterile barrier sleeve as a componentto cover each robotic arm used during any surgical robotic procedure.More particularly, surgical robotic system 100 may include severalrobotic arms 112 mounted at respective locations on operating table 111,and each robotic arm 112 may be covered by a tubular sleeve such that amotor drive of the robotic arm 112 engages a respective sterile adapter712 to drive a respective surgical tool 104 (e.g., having an endoscope)mounted on the respective sterile adapter 712. By way of example,surgical robotic system 100 may include a first surgical tool 104, e.g.,a first sterile barrier sleeve covering a first robotic arm 112, andhaving a first microphone 210, and a second surgical tool 104, e.g., asecond sterile barrier sleeve covering a second robotic arm 112, andhaving a second microphone 210. The first microphone 210 may pick upsound input from a first tableside staff 106 on a first side ofoperating table 111, and the second microphone 210 may pick up soundinput from a second tableside staff 106 on a second side of operatingtable 111. Furthermore, the first microphone 210 can convert the firstsound input into a first microphone output signal and the secondmicrophone 210 can convert the second sound input into a secondmicrophone output signal.

In an embodiment, remote operator 107 may focus communicationfacilitated by surgical tools 104 to a specific location aroundoperating table 111. User console 120 may be communicatively coupled tothe first microphone 210 and the second microphone 210, e.g., throughelectrical cable 214. A location of the microphones 210 around operatingtable 111 may be known to user console 120 because a data channel usedto pass the respective microphone output signals of each microphone 210may be identifiable. That is, the data channel transferring themicrophone output signal from surgical tool 104 to user console 120 maybe known to correspond to a particular robotic arm 112 on operatingtable 111, e.g., at a patient left side or at a patient right side.Based on the known location of the corresponding robotic arm 112, remoteoperator 107 can select, using a console of user console 120, aparticular location to communicate to. For example, remote operator 107may use an input device of user console 120 to provide a command to aconsole processor (FIG. 10) to select one or more of the firstmicrophone output signal of the first microphone 210 or the secondmicrophone output signal of the second microphone 210 for output byconsole speaker 150.

The remote operator 107 may choose to communicate with a first tablesidestaff 106 on a patient left side using a speaker 212 mounted on asterile barrier covering a first robotic arm 112 and a microphone 210mounted on a first endoscope attached to a sterile adapter 712 of thesterile barrier. Similarly, the remote operator 107 may choose tocommunicate with a second tableside staff 106 on a patient right sideusing a speaker 212 mounted on a sterile barrier having a sleevecovering a second robotic arm 112 and a microphone 210 mounted on asecond endoscope attached to a sterile adapter 712 of the sterilebarrier. In other embodiments, both the microphone 210 and speaker 212may be attached to the same surgical tool 104 selected by the remoteoperator 107. For example, both microphone 210 and speaker 212 on theendoscope or on the sterile barrier. Accordingly, the remote operator107 can select a specific region of the operating arena to focuscommunications toward.

In addition to selecting a specific channel to focus communications to aregion of the operating arena, the separate microphones 210 of surgicalrobotic system 100 may be used in combination to direct listening to theregion. More particularly, the microphones 210 mounted on differentrobotic arms 112 of surgical robotic system 100 may form a microphonearray that can be used for acoustic beam forming to enhance audioquality. As described above with respect to FIG. 3, the microphone arraymay generate several microphone output signals that may be processed toperform noise reduction or to detect sound direction. Processing may beperformed by a console processor of computer system 110. For example, afirst microphone 210 mounted on a first sterile barrier having a sleevecovering a first robotic arm 112 may act as primary microphone 210A anda second microphone 210 mounted on a second sterile barrier having asleeve covering a second robotic arm 112 may act as a secondarymicrophone 210B. Microphone output signals from primary microphone 210Aand secondary microphone 210B may be processed by the console processorusing audio processing algorithms, e.g., noise reduction algorithms,time of arrival algorithms, or beam forming algorithms, to bettercapture a voice of tableside staff 106, to reduce background noise, andto improve vocal communications between tableside staff 106 and surgeon107.

Referring to FIG. 10, a block diagram of a computer portion of asurgical robotic system is shown in accordance with an embodiment.Surgical robotic system 100 can include: user console 120 havingcomputer system 110, a surgical robot having robotic components such asarms 112, surgical tool(s) 104, and optionally corresponding actuators114. User console 120 may be in electrical communication with surgicaltool 104 of communication device 200. The surgical robotic system hascircuitry suited to specific functionality, and thus, the diagrammedcircuitry is provided by way of example and not limitation.

Console processor(s) 1002 may receive electrical input signals fromsurgical tool 104 or from other components of user console 120. Forexample, console processor 1002 can receive microphone output signalsfrom console microphone(s) 152. Console processor 1002 can receiveoperator command signals from a touchscreen menu button, a keyboard, apointing device, or another user input device that is manipulated byremote operator 107, such as foot pedals 124. Console processor(s) 1002may output signals to other components of user console 120. For example,console processor 1002 can output acoustic output signals to consolespeaker(s) 150. Console processor 1002 can output video data for displayto remote operator 107 on a display device 128. One or more seatactuators can receive control signals from console processor 1002 tocontrol movement of seat 122. Console processor 1002 can process inputsignals to determine and provide output signals. For example, microphoneoutput signals from console microphone 152 may be processed to generateacoustic output signals for transmission to surgical tool 104.

Console processor(s) 1002 of user console 120 can control portions ofthe surgical robot, e.g., robotic arms 112 and/or surgical tools 104.UID 126 may be communicatively coupled to console processor 1002 and/ora surgical robotic system processor 1012 of surgical robotic system 100to provide input commands to control surgical robotic system 100. Forexample, UID 126 may communicate electrical control signals to computersystem 110, e.g., spatial state signals generated by a UID processor inresponse to signals from a tracking sensor of a tracking system 1004.The electrical signals may be input commands to cause motion of surgicalrobotic system 100.

Console processor(s) 1002 of computer system 110, surgical systemsprocessor(s) 1012, or processor(s) 302 may execute instructions to carryout the different functions and capabilities described above. Theinstructions executed by the processor(s) may be retrieved from a localmemory, which may include a non-transitory machine-readable medium. Theinstructions may be in the form of an operating system program havingdevice drivers to control components of surgical robotic system 100,e.g., arm or tool actuators 114 operatively coupled to robotic arm(s)112 or surgical tool(s) 104. The instructions stored on thenon-transitory machine-readable medium can be executed by theprocessor(s) to cause surgical robotic system 100 to perform any of themethods or operations described herein.

Console processor 1002 can output control signals 1010 to surgicalsystem processor(s) 1012 via a wired or wireless link. Control signals1010 may be transmitted to control movement of the surgical robot. Forexample, at least one processor 1012 can be located in control tower130, and may be communicatively coupled to system components, such asarm(s) 112, operating table 111, or one or more displays 1014.

Actuators 114 of surgical robotic system 100 may receive controlcommands from surgical system processor 1012 to cause motioncorresponding to movement of UID 126. For example, an input commandreceived by UID 126, such as a tilting hand motion, can result in acontrol command to move an arm actuator 114 and thereby an end effectormounted on arm 112.

Surgical tool 104 may include one or more processor 302 to executeinstructions to carry out the different functions and capabilitiesdescribed above. Instructions executed by processor(s) 302 of surgicaltool 104 may be retrieved from a local memory. Processor 302 of surgicaltool 104 may include a field-programmable gate array configured toperform specific functions, such as digital signal processing for audioprocessing functionality. Processor(s) 302 may receive input signalsfrom console processor 1002, e.g., directly or via surgical systemprocessor 1012. Processor(s) 302 may receive input signals from othercomponents of surgical tool 104. For example, processor 302 can receiveaudio signals from console processor 1002 that correspond to speech ofoperator 107 and intended for playback to operator 106. Processor 302can receive microphone output signals from microphone(s) 210 thatcorrespond to speech of operator 106 that is intended for communicationto console processor 1002 and playback to operator 107. Processor 302can receive orientation signals from IMU 318, processor 302 can receiveimage data signals from the optical subsystem, or processor 302 canreceive operator command signals from buttons 404 that are manipulatedby tableside staff 106. The input and output signals of processor(s) 302provide for the functionality described above. For example, processor(s)302 may output acoustic output signals to speaker(s) 212 to communicateto operator 106, or processor 302 can output illumination signals to theoptical subsystem to facilitate imaging within patient 102. Computercomponents of the surgical robotic system 100 may communicate withsurgical tool 104. For example, the computer components and the tool cancommunicate data and/or power signals to each other via wired orwireless communication links 1020. Communication link 1020 may include awired connection via electrical cable 214. Electrical cable 214 mayinclude an audio jack or other wired connectors to transfer data orpower electrical signals between surgical tool 104 and control tower 130or user console 120. Furthermore, in an embodiment, surgical tool 104communicates wirelessly with user console 120 or control tower 130. Moreparticularly, a wireless communication link 1020 may be established byrespective RF circuitry of the computer components and surgical tool104. The system processors can process respective audio signals tofacilitate two-way communication between remote operator 107 at userconsole 120 and tableside staff 106 at surgical tool 104.

In the foregoing specification, the invention has been described withreference to specific exemplary embodiments thereof. It will be evidentthat various modifications may be made thereto without departing fromthe broader spirit and scope of the invention as set forth in thefollowing claims. The specification and drawings are, accordingly, to beregarded in an illustrative sense rather than a restrictive sense.

What is claimed is:
 1. A surgical robotic system, comprising: a roboticarm mounted on an operating table; a surgical tool coupled to therobotic arm; a first microphone mounted on an outer surface of thesurgical tool above a sterile drape that covers a portion of the roboticarm, the first microphone configured to receive and convert a firstsound input from a tableside staff into a first audio signal; a userconsole; a second microphone mounted on the user console that is incommunication with the robotic arm, the second microphone configured toreceive and convert a second sound input from a user at the user consoleinto a second audio signal; and one or more processors communicativelycoupled to the first microphone and the second microphone to process andtransmit the first audio signal and the second audio signal tofacilitate vocal communication between the tableside staff and the userat the user console.
 2. The surgical robotic system of claim 1, whereinthe surgical tool includes a sterile adapter between the robotic arm anda surgical instrument.
 3. The surgical robotic system of claim 1,wherein the first microphone is a microphone array comprising aplurality of microphones arranged equidistantly with each other in aplane.
 4. The surgical robotic system of claim 3, wherein processing thefirst audio signal includes detecting a source location of the firstsound input based on a time difference of arrival at the plurality ofmicrophones.
 5. The surgical robotic system of claim 1, furthercomprising a first speaker mounted on the outer surface of the surgicaltool, the first speaker configured to receive the second audio signalfrom the one or more processors and to convert the second signal into afirst sound output.
 6. The surgical robotic system of claim 1, furthercomprising a second speaker mounted on the user console, the secondspeaker configured to receive the first signal from the one or moreprocessors and to convert the first audio signal into a second soundoutput.
 7. The surgical robotic system of claim 1, wherein processingthe first audio signal and the second audio signal includes measuring abackground noise and reducing the background noise by the one or moreprocessors.
 8. The surgical robotic system of claim 1, wherein thesurgical tool has a shaft and a housing coupled to a proximal end of theshaft, the first microphone being mounted on the outer surface of thehousing and operatively disposed above a sterile barrier covering aportion of the operating table.
 9. A method for audio communications ina surgical robotic system having a robotic arm mounted on an operatingtable, a surgical tool coupled to the robotic arm, and a user console,comprising: receiving a first audio signal from a first microphone,wherein the first microphone is mounted on an outer surface of thesurgical tool above a sterile drape that covers a portion of the roboticarm, and wherein the first audio signal captures a first sound inputfrom a tableside staff; receiving a second audio signal from a secondmicrophone mounted on the user console that is in communication with therobotic arm, wherein the second audio signal captures a second soundinput from a user at the user console; and processing and transmittingthe first audio signal and the second audio signal to facilitate vocalcommunication between the tableside staff and the user at the userconsole.
 10. The method of claim 9, wherein the surgical tool includes asterile adapter between the robotic arm and a surgical instrument. 11.The method of claim 9, wherein the first microphone is a microphonearray comprising a plurality of microphones arranged equidistantly witheach other in a plane.
 12. The method of claim 11, wherein processingthe first audio signal includes detecting a source location of the firstsound input based on a time difference of arrival at the plurality ofmicrophones.
 13. The method of claim 9, wherein transmitting the secondaudio signal includes transmitting the second audio signal to a firstspeaker mounted on the outer surface of the surgical tool, and whereinthe first speaker converts the second audio signal into a first soundoutput.
 14. The method of claim 9, wherein transmitting the first audiosignal includes transmitting the first audio signal to a second speakermounted on the user console, the second speaker configured to convertthe first audio signal into a second sound output.
 15. The method ofclaim 9, wherein processing the first audio signal and the second audiosignal includes measuring a background noise and reducing noise in thefirst and second audio signals.
 16. The surgical robotic system of claim2, wherein the sterile adapter is mounted on the sterile drape andincludes a transmission element to transmit torque from the robotic armto the surgical instrument.
 17. The surgical robotic system of claim 1,wherein the surgical tool includes a surgical instrument formanipulating tissue, and wherein the sterile drape is between therobotic arm and the surgical instrument.
 18. The surgical robotic systemof claim 1, wherein the surgical tool is an endoscope, and wherein thesterile drape is between the robotic arm and the endoscope.
 19. Themethod of claim 10, wherein the sterile adapter is mounted on thesterile drape and includes a transmission element to transmit torquefrom the robotic arm to the surgical instrument.
 20. The method of claim9, wherein the surgical tool includes a surgical instrument formanipulating tissue, and wherein the sterile drape is between therobotic arm and the surgical instrument.
 21. The method of claim 9,wherein the surgical tool is an endoscope, and wherein the sterile drapeis between the robotic arm and the endoscope.